Design of a Lockable Spherical Joint for a Reconfigurable 3-URU Parallel Platform
作者： Matteo Palpacelli , Luca Carbonari , Giacomo Palmieri , Massimo Callegari
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摘要: This article deals with the functional and preliminary design of a reconfigurable joint for robotic applications. Such mechanism is key element class lower mobility parallel manipulators, allowing local reconfiguration kinematic chain that enables change in platform’s mobility. The can be integrated structure 3-URU manipulator, which shall accordingly gain ability to from pure translation rotation. As matter fact, special kinematics conditions must met accomplishment this task. peculiar requirements are described properly exploited an effective mechanism. A detailed description operational principle provided, also showing how it when physically located at fixed base manipulator.
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